CN109156464A - A kind of spray robot - Google Patents
A kind of spray robot Download PDFInfo
- Publication number
- CN109156464A CN109156464A CN201811348195.3A CN201811348195A CN109156464A CN 109156464 A CN109156464 A CN 109156464A CN 201811348195 A CN201811348195 A CN 201811348195A CN 109156464 A CN109156464 A CN 109156464A
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- China
- Prior art keywords
- spray
- plate
- telescoping mechanism
- connect
- walking chassis
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to a kind of spray robots, it is characterized in that, including walking chassis, and the chemical spraying device in the walking chassis and control module are set, the showerhead of the chemical spraying device, which sets up separately, to be set on the telescoping mechanism of left and right, and the left and right telescoping mechanism is arranged in the walking chassis by upper and lower adjustment mechanism；The left and right telescoping mechanism includes a pair of parallelogram lindage being symmetrical set, and the parallelogram lindage is realized that left and right is flexible by corresponding servo driving；Injection target detection module, the pin connection corresponding with the main control chip of the control module respectively of the signal input output end of the injection target detection module are also respectively provided at left and right sides of the walking chassis.In the present invention, spray head is scalable, can not only realize fixed point precisely spray, but also can make that the robot is compact-sized when not spraying, occupied area is small.
Description
Technical field
The invention belongs to the robotic technology fields that sprays, and in particular to a kind of spray robot.
Background technique
With the development of science and technology, during various crop plantings and acquirement plant product, automation
Just gradually embody its importance.Pesticide spraying this aspect especially in crop planting, by automated job, not only
The labor intensity of people can be reduced, and machine workmanship can also overcome landform, weather, plant density state etc. some unfavorable
The influence of factor.Therefore how Machine automated operation to be used to have become the main problem studied both at home and abroad.
Summary of the invention
The present invention devises a kind of spray robot, it is desirable to provide a kind of automation spray for being able to achieve fixed point and precisely spraying
Device avoids unnecessary waste, more can adapt to complicated agricultural environment.
To achieve the goals above, one aspect of the present invention discloses:
A kind of spray robot, including walking chassis, and the chemical spraying device and control module that are arranged in the walking chassis,
The showerhead of the chemical spraying device, which sets up separately, to be set on the telescoping mechanism of left and right, and the left and right telescoping mechanism is set by upper and lower adjustment mechanism
It sets in the walking chassis；The left and right telescoping mechanism includes a pair of parallelogram lindage being symmetrical set, described flat
Row four-bar mechanism is realized that left and right is flexible by corresponding servo driving；It is also respectively provided at left and right sides of the walking chassis
Injection target detection module, the master control with the control module respectively of the signal input output end of the injection target detection module
The corresponding pin connection of chip.
Further, the parallelogram lindage includes mandril, bottom bar and a pair of of swing rod, and the upper and lower of swing rod on the outside is arranged
Both ends pass through corresponding pin and the mandril respectively and bottom bar is rotatablely connected, and the upper end that the swing rod of inside is arranged in passes through phase
Corresponding pin and the mandril are rotatablely connected, and the lower end that the swing rod of inside is arranged in is connected by corresponding steering engine and the bottom bar
It connects；The outer end of the mandril is connected with corresponding spray head part.
Further, the bottom bar of described two parallelogram lindages is processed into integral piece；The middle part of the integral piece bottom bar
Divide and is connected with the upper and lower adjustment mechanism.
Further, the upper and lower adjustment mechanism include the lead screw and feed screw nut being vertically arranged, the lead screw lower end and step
It is connected into motor, the stepper motor is controlled by controllor for step-by-step motor drive control, the signal of the controllor for step-by-step motor
End is connected on the corresponding pin of main control chip of the main control module；The left and right telescoping mechanism and the feed screw nut connect
It connects.
Further, the upper and lower adjustment mechanism further include upper and lower fixing plate and guide rail, the lead screw upper and lower ends respectively with
Upper and lower fixing plate is rotatably connected, and the bottom plate is connected on the shell of the stepper motor；The guide rail setting exists
Between upper and lower fixing plate, the feed screw nut passes through sliding block and the guide rail slidable connection.
Further, the guide rail is arranged between the upper and lower fixing plate by rail brackets, the sheet of the rail brackets
Body is the rectangular block architecture of a strip, and longitudinal U-type groove is machined in rectangular block architecture, and U-type groove slot bottom is provided with several peaces
Hole is filled to install the guide rail, the both ends of rectangular block architecture are provided with connecting hole to connect respectively with the upper bottom plate.
Further, threaded hole is set on the feed screw nut to install the left and right telescoping mechanism.
Further, the chemical spraying device includes medicine-chest, booster pump and spray head part, each spray head difference of the spray head part
It is connected by corresponding water pipe, solenoid valve with the outlet of the booster pump, the import of the booster pump goes out with the medicine-chest
Mouth connection；Described power of electromagnetic valve the two poles of the earth are connected to electromagnetic relay, and the electromagnetic relay signal control terminal passes through signal wire
It is connected on the corresponding pin of main control chip of the main control module.
Further, the showerhead point includes spray plate and several spray heads sprayed on plate is arranged in, and the spray plate passes through
Connector is connected with the left and right telescoping mechanism.
Further, the spray plate is provided with connection boss to connect with the left and right telescoping mechanism.
Further, the ontology of the spray plate is a Rectangular Plate Structure, and the connection boss is arranged in Rectangular Plate Structure
Portion.
Further, the connector is the hardened structure of a L-type, and the bottom plate of the hardened structure of L-type is connect with corresponding spray plate, L-type plate
The vertical plate of structure is connect with the mandril of corresponding parallelogram lindage, and the two sides of the hardened structure of L-type are additionally provided with stiffening plate.
Further, the injection target detection module includes optoelectronic switch.
The spray robot has the advantages that
(1) spray head that robot may be implemented in the present invention stretches, fixed point spray, precisely spray, variable spray, and more can adapt to multiple
Miscellaneous agricultural environment.
(2) cost is relatively low by the present invention, and operating efficiency is higher, and easily studied and production.
(3) in the present invention, spray head is scalable, can not only realize fixed point precisely spray, but also the robot can be made not spray
When it is compact-sized, occupied area is small.Moreover, each spray head individually controls in the present invention, it is vertically arranged, flexible operation, spray regime
Extensively, it can avoid unnecessary waste.
Detailed description of the invention
Fig. 1: the overall structure diagram for the robot that sprays in embodiment of the present invention；
Fig. 2: the assembly structure diagram of spray head part and telescoping mechanism in embodiment of the present invention；
Fig. 3: the structural schematic diagram of upper and lower adjustment mechanism in embodiment of the present invention；
Fig. 4: the schematic layout pattern on chassis in embodiment of the present invention；
Fig. 5: the work flow diagram of chemical spraying device in embodiment of the present invention.
Description of symbols:
1-walking chassis；11-medicine-chests；12-booster pumps；13-solenoid valves；14-electromagnetic relays；15-main control chips；
16-injection target detection modules；2-spray head parts；21-spray heads；22-spray plates；23-connectors；3-left and right telescopic machines
Structure；31-parallelogram lindages；311-mandrils；312-bottom bars；313-swing rods；32-steering engines；33-pins；4-upper downwards
Save mechanism；41-upper mounted plates；42-rail brackets；43-feed screw nuts；44-sliding blocks；45-guide rails；46-lead screws；47—
Bottom plate；48-stepper motors.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described:
Fig. 1 to Fig. 5 shows the specific embodiment of present invention spray robot.Fig. 1 is the robot that sprays in present embodiment
Structural schematic diagram；Fig. 2 is the assembly structure diagram of spray head part and telescoping mechanism in present embodiment；Fig. 3 is this implementation
The structural schematic diagram of upper and lower adjustment mechanism in mode；Fig. 4 is the schematic layout pattern of walking chassis in present embodiment；Fig. 5 is this
The work flow diagram of chemical spraying device in embodiment.
Such as Fig. 1, spray robot in present embodiment, including walking chassis 1, and setting walk it is the One On The Chassis
The spray head part 2 of chemical spraying device and control module, the chemical spraying device is arranged on left and right telescoping mechanism 3, left and right telescoping mechanism 3
It is arranged in walking chassis 1 by upper and lower adjustment mechanism 4, left and right telescoping mechanism 3 can be moved up and down with upper and lower adjustment mechanism 4 to adjust
Save the height of spray head part 2；Left and right telescoping mechanism 3 includes a pair of parallelogram lindage 31 being symmetrical set, parallel four-bar
Mechanism 31 is driven by corresponding steering engine 32 to realize that left and right is flexible；The left and right sides of walking chassis 1 is also respectively provided with injection
Module of target detection 16, the signal input output end of injection target detection module 16 main control chip with the control module respectively
15 corresponding pin connections, as shown in Figure 4.In the present embodiment, injection target detection module 16 includes optoelectronic switch.Walking bottom
1 bottom of disk is equipped with traveling wheel, and traveling wheel is not drawn in the attached drawing of the present embodiment.
Preferably, parallelogram lindage 31 includes mandril 311, bottom bar 312 and a pair of of swing rod 313, and pendulum on the outside is arranged
The upper and lower ends of bar 313 pass through corresponding pin 33 respectively and are rotatablely connected with mandril 311 and bottom bar 312, and inside is arranged in
The upper end of swing rod 313 is rotatablely connected by corresponding pin 33 with mandril 311, and the lower end that the swing rod 313 of inside is arranged in is logical
Corresponding steering engine 32 is crossed to connect with bottom bar 312；The outer end of mandril 311 is connected with corresponding spray head part 2, such as Fig. 1 and Fig. 2 institute
Show.
Preferably, the bottom bar of two parallelogram lindages 31 is processed into integral piece；The middle section of the integral piece bottom bar
It is connected with upper and lower adjustment mechanism 4, as depicted in figs. 1 and 2.
Preferably, upper and lower adjustment mechanism 4 include the lead screw 46 and feed screw nut 43 being vertically arranged, 46 lower end of lead screw and stepping
Motor 48 connects, and stepper motor 48 is by 49 drive control of controllor for step-by-step motor, the signal control terminal of controllor for step-by-step motor 49
It is connected on the corresponding pin of main control chip 15 of the main control module, the left and right telescoping mechanism and the feed screw nut connect
It connects, as shown in Figure 3 and Figure 4.In the present embodiment, 46 lower end of lead screw is connect by shaft coupling with stepper motor 48.
Preferably, upper and lower adjustment mechanism 4 further include upper mounted plate 41, bottom plate 47 and guide rail 45, lead screw about 46 two
End is rotatably connected with upper mounted plate 41, bottom plate 47 respectively, and bottom plate 47 is connected on the shell of stepper motor 48；It leads
Rail 45 is arranged between upper mounted plate 41 and bottom plate 47, and feed screw nut 43 passes through sliding block 44 and 45 slidable connection of guide rail,
As shown in Figure 3.In the present embodiment, rolling bearing is provided between 46 upper end of lead screw and upper mounted plate 41.
Preferably, guide rail 45 is arranged between upper mounted plate 41 and bottom plate 47 by rail brackets 42, rail brackets
42 ontology is the rectangular block architecture of a strip, and longitudinal U-type groove is machined in rectangular block architecture, and U-type groove slot bottom is provided with
Several mounting holes to install guide rail 45, the both ends of rectangular block architecture be provided with connecting hole with respectively with upper mounted plate 41 and lower solid
Fixed board 47 connects, as shown in Figure 3.
Specifically, threaded hole is set on feed screw nut 43 to install left and right telescoping mechanism 3.In the present embodiment, feed screw nut
It is arranged in the middle part of the bottom bar of threaded hole and integral piece on 43 and connects.
Preferably, chemical spraying device includes medicine-chest 11, booster pump 12 and spray head part 2, and each spray head of spray head part 2 leads to respectively
Cross corresponding water pipe, solenoid valve 13 is connected with the outlet of booster pump 12, the import of booster pump 12 is connect with the outlet of medicine-chest 11；
13 two poles of solenoid valve are connected to electromagnetic relay 14, and 14 signal control terminal of electromagnetic relay is connected to master control by signal wire
On the corresponding pin of chip 15, as shown in Figure 4.
Preferably, spray head part 2 includes spray plate 22 and several spray heads 21 sprayed on plate 22 is arranged in, and spray plate 22 passes through connection
Part 23 and left and right telescoping mechanism 3 connect, as depicted in figs. 1 and 2.In the present embodiment, several spray heads 21 are vertically arranged, spray regime
Extensively.
Preferably, spray plate 22 is provided with connection boss to connect with left and right telescoping mechanism 3；The ontology for spraying plate 22 is a rectangle
The middle part of Rectangular Plate Structure is arranged in hardened structure, connection boss.
Preferably, connector 23 is the hardened structure of a L-type, and the bottom plate of the hardened structure of L-type is connect with corresponding spray plate 22, L-type plate
The vertical plate of structure is connect with the mandril 311 of corresponding parallelogram lindage 31, and the two sides of the hardened structure of L-type are provided with pulling plate to increase
Its intensity, as shown in Figure 2.
In the present embodiment, walking chassis 1 is made of aluminium sheet, and the ontology of walking chassis 1 is Rectangular Plate Structure or approximate ellipse
Hardened structure.Main control chip 15 is arranged in 1 front of walking chassis, and controllor for step-by-step motor 49 is located at one side of main control chip 15,
Electromagnetic relay 14 is located at another side of main control chip 15, and medicine-chest 11 is located at the rear portion of walking chassis 1, and booster pump 12 is located at medicine-chest
11 side.Stepper motor 48 is fixed on the center of walking chassis 1, and stepper motor pulse signal control terminal is connected by signal wire
In controllor for step-by-step motor 49, as shown in Figure 4.
When work, injection target detection module 16 detects the position of target, and sends a signal to main control chip 15, master control
Chip 15 sends a signal to corresponding steering engine 32 and controllor for step-by-step motor 49, parallel by control steering engine corner control
The mandril 311 of four-bar mechanism 31 stretches out, and by control controllor for step-by-step motor 49, and then controls stepper motor 48 and rotate forward and anti-
The angle for turning and rotating, control lead screw 46 rotates, and then control feed screw nut 43 and sliding block 44 are moved up and down along lead screw 46,
Main control chip 15 by the umber of pulse that control controllor for step-by-step motor 49 exports control stepper motor 48 and lead screw 46 corner and
It turns to, and then controls the distance of 43 raising and lowering of feed screw nut, to adjust the height of spray head part 2；When spray head 21 rises
To spray proper height when, main control chip 15 controls booster pump 12 and solenoid valve 13 by control electromagnetic relay 14
Power on, sprays.Spray date is completed by the control of 15 internal timing of main control chip.After robot completes to spray,
Main control chip 17 controls booster pump 12 and the disconnection power supply of solenoid valve 13 by controlling corresponding electromagnetic relay 14, and control is flat
Row four-bar mechanism 31 withdraws mandril 311, terminates spray.
The spray head that robot may be implemented in the present invention is flexible, fixed point spray, precisely sprays, variable spray, more can adapt to
Complicated agricultural environment.
Cost is relatively low by the present invention, and operating efficiency is higher, and easily studied and production.
In the present invention, spray head is scalable, can not only realize fixed point precisely spray, but also can make robot knot when not spraying
Structure is compact, occupied area is small.Moreover, each spray head individually controls, and is vertically arranged, and flexible operation, spray regime is wide in the present invention,
It can avoid unnecessary waste.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of spray robot, which is characterized in that including walking chassis, and the spray dress being arranged in the walking chassis
It sets and control module, the showerhead of the chemical spraying device, which sets up separately, to be set on the telescoping mechanism of left and right, and the left and right telescoping mechanism passes through
Upper and lower adjustment mechanism are arranged in the walking chassis；The left and right telescoping mechanism includes a pair of parallel four be symmetrical set
Linkage, the parallelogram lindage are realized that left and right is flexible by corresponding servo driving；The left and right two of the walking chassis
Side is also respectively provided with injection target detection module, the signal input output end of the injection target detection module respectively with it is described
The corresponding pin connection of the main control chip of control module.
2. spray robot according to claim 1, which is characterized in that the parallelogram lindage includes mandril, bottom bar
With a pair of of swing rod, the upper and lower ends that swing rod on the outside is arranged pass through corresponding pin and the mandril respectively and bottom bar rotates
Connection, the upper end that the swing rod of inside is arranged in are rotatablely connected by corresponding pin and the mandril, and the pendulum of inside is arranged in
The lower end of bar is connect by corresponding steering engine with the bottom bar；The outer end of the mandril is connected with corresponding spray head part.
3. spray robot according to claim 2, which is characterized in that the bottom bar of described two parallelogram lindages is processed
Integral part；The middle section of the integral piece bottom bar and the upper and lower adjustment mechanism are connected.
4. spray robot according to claim 1,2 or 3, which is characterized in that the upper and lower adjustment mechanism include vertical
The lead screw and feed screw nut of setting, the lead screw lower end are connect with stepper motor, and the stepper motor is by controllor for step-by-step motor
Drive control, the signal control terminal of the controllor for step-by-step motor are connected to the corresponding pin of main control chip of the main control module
On；The left and right telescoping mechanism is connect with the feed screw nut.
5. a kind of chemical spraying mechanism according to claim 4, which is characterized in that the upper and lower adjustment mechanism further include upper and lower
Fixed plate and guide rail, the lead screw upper and lower ends are rotatably connected with upper and lower fixing plate respectively, and the bottom plate is connected in institute
It states on the shell of stepper motor；The guide rail is arranged between upper and lower fixing plate, and the feed screw nut is led by sliding block with described
Rail slidable connection.
6. a kind of chemical spraying mechanism according to claim 5, which is characterized in that the guide rail is arranged by rail brackets in institute
It states between upper and lower fixing plate, the ontology of the rail brackets is the rectangular block architecture of a strip, is machined in rectangular block architecture
Longitudinal U-type groove, U-type groove slot bottom are provided with several mounting holes to install the guide rail, and the both ends of rectangular block architecture are provided with
Connecting hole with the upper bottom plate to connect respectively.
7. according to claim 1, spray robot described in 2,3,5 or 6, which is characterized in that the chemical spraying device include medicine-chest,
Booster pump and spray head part, each spray head of the spray head part pass through corresponding water pipe, solenoid valve and the booster pump respectively
Outlet connection, the import of the booster pump connect with the outlet of the medicine-chest；Described power of electromagnetic valve the two poles of the earth are connected to electromagnetism
Relay, the main control chip that the electromagnetic relay signal control terminal is connected to the main control module by signal wire are corresponding
On pin.
8. spray robot according to claim 7, which is characterized in that the showerhead point includes spray plate and is arranged in institute
Several spray heads on spray plate are stated, the spray plate is connected by connector with the left and right telescoping mechanism.
9. spray robot according to claim 8, which is characterized in that the spray plate be provided with connection boss with it is described
The connection of left and right telescoping mechanism.
10. spray robot according to claim 8, which is characterized in that the connector is the hardened structure of a L-type, L-type plate
The bottom plate of structure is connect with corresponding spray plate, and the vertical plate of the hardened structure of L-type is connect with the mandril of corresponding parallelogram lindage, L-type
The two sides of hardened structure are additionally provided with stiffening plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348195.3A CN109156464A (en) | 2018-11-13 | 2018-11-13 | A kind of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348195.3A CN109156464A (en) | 2018-11-13 | 2018-11-13 | A kind of spray robot |
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| Publication Number | Publication Date |
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| CN109156464A true CN109156464A (en) | 2019-01-08 |
Family
ID=64876894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811348195.3A Pending CN109156464A (en) | 2018-11-13 | 2018-11-13 | A kind of spray robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112205201A (en) * | 2020-10-20 | 2021-01-12 | 邓州市荣冠农业科技有限公司 | Be suitable for special sprinkler of chinese sorghum planting |
| CN113086203A (en) * | 2021-04-13 | 2021-07-09 | 海南大学 | Mooring type agricultural unmanned aerial vehicle rubber tree drifting-reducing pesticide application system and pesticide application method |
| CN114982736A (en) * | 2022-06-29 | 2022-09-02 | 黑龙江省农业机械工程科学研究院 | Plant protection spouts medicine operation device |
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| CN112205201A (en) * | 2020-10-20 | 2021-01-12 | 邓州市荣冠农业科技有限公司 | Be suitable for special sprinkler of chinese sorghum planting |
| CN113086203A (en) * | 2021-04-13 | 2021-07-09 | 海南大学 | Mooring type agricultural unmanned aerial vehicle rubber tree drifting-reducing pesticide application system and pesticide application method |
| CN114982736A (en) * | 2022-06-29 | 2022-09-02 | 黑龙江省农业机械工程科学研究院 | Plant protection spouts medicine operation device |
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